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AP_HAL_SMAACM: Add timeout for SPI transfers. 

- Detects lockup in the lower level SPI driver.
- Add scheduler task tags for FreeRTOS debugging.
This commit is contained in:
James Bielman 2013-01-04 14:27:25 -08:00 committed by Pat Hickey
parent eca1417858
commit bb4474fa6d
2 changed files with 9 additions and 2 deletions
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6
libraries/AP_HAL_SMACCM/SPIDriver.cpp
View File

@ -14,6 +14,8 @@
using namespace SMACCM;
extern const AP_HAL::HAL& hal;
//////////////////////////////////////////////////////////////////////
// SPI Device Driver
@ -34,7 +36,9 @@ AP_HAL::Semaphore* SMACCMSPIDeviceDriver::get_semaphore()
void SMACCMSPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len)
{
spi_transfer(_bus, _device, portMAX_DELAY, tx, rx, len);
if (spi_transfer(_bus, _device, 1000, tx, rx, len) < 0) {
hal.scheduler->panic("PANIC: SPI transaction timeout.");
}
}
// XXX these methods are not implemented

5
libraries/AP_HAL_SMACCM/Scheduler.cpp
View File

@ -55,6 +55,7 @@ static void scheduler_task(void *arg)
portTickType last_wake_time;
portTickType now;
vTaskSetApplicationTaskTag(NULL, (pdTASK_HOOK_CODE)3);
last_wake_time = xTaskGetTickCount();
for (;;) {
@ -97,6 +98,7 @@ static void delay_cb_task(void *arg)
portTickType last_wake_time;
portTickType now;
vTaskSetApplicationTaskTag(NULL, (pdTASK_HOOK_CODE)4);
last_wake_time = xTaskGetTickCount();
for (;;) {
@ -256,8 +258,9 @@ void SMACCMScheduler::run_callbacks()
portEXIT_CRITICAL();
for (int i = 0; i < num_procs; ++i) {
if (m_procs[i] != NULL)
if (m_procs[i] != NULL) {
m_procs[i](now);
}
}
}